Recorded comparison

Sonata (PTv3) · Orin

Sonata (PTv3) · Jetson AGX Orin · FP32 baseline with CPU voxelization

Measurement details

Model & hardware

Sonata (PTv3) · Jetson AGX Orin.

Execution

FP32 baseline with CPU voxelization → ZETIC optimized BF16 execution with GPU-resident input.

Measurement

End-to-end latency per frame shown in the recording: 991 ms → 149 ms (6.7×). This includes frame processing, not just model inference.

Recording

Measured replay of a 10 Hz sensor stream. Each side shows its latest completed point-cloud segmentation result.

Playback

1× playback, as labeled in the recording.